SLAM scanner coordinate measurement semi-mobile support

Abstract

The utility model provides an SLAM scanner coordinate measurement semi-mobile support comprising a support used for supporting an SLAM scanner; the fast-assembly connecting plate is detachably installed at the top end of the support, and a first limiting clamping groove is formed in the top; the bottom surface of the auxiliary measuring plate is fixedly connected with a clamping block clamped with the first limiting clamping groove, the top surface of the auxiliary measuring plate is provided with a second limiting clamping groove, a prism device is detachably mounted on the auxiliary measuring plate, and the prism device is used for measuring the coordinates of the prism device at a temporary measuring control point by means of a high-precision total station which has completed the inspection of a frame station and a directional point; and the mounting plate is clamped with the second limiting clamping groove, and the SLAM scanner is detachably mounted on the mounting plate. Corresponding coordinates are measured through a plurality of temporary measurement control points arranged in a tunnel through an SLAM scanner erected on a support, and rapid scanning of an extra-long tunnel group and a small-section chamber can be achieved in combination with tunnel scanning information obtained by the SLAM scanner.

Description

TECHNICAL FIELD

[0001] The utility model relates to engineering construction surveying technical field especially, relate to a SLAM scanner coordinate surveying semi -mobile support. BACKGROUND

[0002] In recent years with the rapid development of new energy industry in our country, in order to comply with new economy, new motive force industry, western major water system is developing clean energy construction, and the central cities of the whole country, energy load center is developing rail transit and new energy power station. The number of rail transit tunnels, pumped storage power station underground tunnels etc. is increasing rapidly, whether it is construction surveying, completion acceptance, or engineering quantity calculation, equipment installation, to the final daily operation and maintenance need to measure three-dimensional model data as basic information. With the rapid development of pumped storage, hydropower engineering, the urgent demand of special long tunnel surveying comes along. The emergence of three-dimensional laser scanning technology, especially handheld SLAM three-dimensional laser scanner, with its high precision, rapid, non-contact and many other advantages.

[0003] In the tunnel construction process, section measurement, overbreak and underbreak analysis, volume calculation, flatness detection, clearance analysis, lining thickness analysis etc. are important process control indicators of construction quality and safety guarantee. The traditional tunnel surveying mainly uses total station, section instrument and range finder etc. to carry out, and the field work is heavy, the data acquisition amount is small, and the operation efficiency is low, and only the local tunnel characteristics can be reflected, and it is difficult to carry out large-scale and high-efficiency detection. Three-dimensional laser scanning technology as a breakthrough surveying and mapping means is an ideal method for truly and comprehensively reflecting the working condition and effectively detecting the above indicators, and has been widely used in tunnel blasting excavation, primary support, secondary lining, mechanical and electrical installation, completion detection, operation and maintenance etc.

[0004] Three-dimensional laser scanning technology can quickly collect data in a large range, and has been widely applied to tunnel surveying. The conventional frame station scanner has high point cloud scanning precision, but in the tunnel scene with few feature points and insufficient length, not only many stations need to be set up, but also the most difficult problem is the multi-station data registration problem, and the work difficulty is large, and the equipment price is high, therefore, the conventional frame station scanning scheme is not suitable for use in the tunnel. In recent years, handheld three-dimensional laser scanning equipment based on SLAM technology has been applied in many industries, but due to the influence of SLAM principle, the equipment has great difficulty in working in the tunnel scene, and the collected point cloud data is prone to layering and the track is prone to error, although part of the equipment in the industry can overcome this point, but the absolute precision after coordinate conversion cannot meet the construction process requirements, and cannot meet the high-precision data acquisition demand. UTILITY MODEL CONTENTS

[0005] The utility model provides a kind of SLAM scanner coordinate measurement semi-mobile support, to realize the above-mentioned purposes, the utility model has adopted the following technical solutions:

[0006] A kind of SLAM scanner coordinate measurement semi-mobile support, comprising:

[0007] Support, for supporting SLAM scanner;

[0008] Quick-mounting connecting plate, detachably installed at the top end of support, top is provided with first limiting slot;

[0009] Measuring auxiliary plate, bottom surface is fixedly connected with the clamping block of first limiting slot, and second limiting slot is opened on top surface, measuring auxiliary plate is detachably installed with prism device, the prism device is used to measure the coordinates of prism device by means of high-precision total station that has completed erection and directional point inspection in temporary measurement control point;

[0010] Mounting plate, with second limiting slot, SLAM scanner is detachably installed on mounting plate.

[0011] Further, the cross section of the first slot and the second slot is arranged into the structure of narrow top and wide bottom.

[0012] Further, the first slot and the second slot are prismatic.

[0013] Further, the top center of the support is fixedly connected with first threaded column, and the bottom center of quick-mounting connecting plate is provided with first threaded hole for screwing with first threaded column.

[0014] Further, the first threaded column is fixedly connected with stop ring, for limiting the position of quick-mounting connecting plate.

[0015] Further, the top end of mounting plate is fixedly connected with second threaded column, and the handle of SLAM scanner is screw-connected with second threaded column.

[0016] Further, screw positioning hole for fixing prism device is opened on measuring auxiliary plate, the prism device includes two right-angle prisms and two reflecting prisms, one edge of right-angle prism is fixed on measuring auxiliary plate so that the other edge is arranged perpendicularly to measuring auxiliary plate, right-angle prisms are symmetrically arranged on two sides of measuring auxiliary plate, reflecting prisms are rotatably installed on the edge of right-angle prism perpendicular to measuring auxiliary plate, and the center line between two reflecting prisms coincides with the center line of screw positioning hole.

[0017] Further, double-axis level tube is fixedly installed on measuring auxiliary plate, for observing the horizontal state of measuring auxiliary plate.

[0018] Compared with the prior art, the utility model has the beneficial effects that

[0019] The SLAM scanner coordinate measurement semi-mobile support assembly provided by the utility model can realize rapid scanning of the super-long tunnel group and the small-section chamber, the support coordinate measurement is accurate, the quality of the observation results is high, the support is convenient and fast to disassemble and assemble, the scanning work can be completed in various complex environments and scenes, the scanning precision is high, the cost is low, and the efficiency is high. BRIEF DESCRIPTION OF DRAWINGS

[0020] The utility model will be further described below in combination with the drawings and embodiments:

[0021] Figure 1 It is rack structure schematic diagram of the utility model embodiment;

[0022] Figure 2 It is quick -witted connecting plate structure schematic diagram of the utility model embodiment;

[0023] Figure 3 It is measurement auxiliary board structure schematic diagram of the utility model embodiment;

[0024] Figure 4 It is installation plate structure schematic diagram of the utility model embodiment;

[0025] Figure 5 It is prism device structure schematic diagram of the utility model embodiment.

[0026] In the above drawings: support 1, support leg 11, first threaded column 12, retaining ring 13, quick -witted connecting plate 2, first limit slot 21, first threaded hole 22, measurement auxiliary board 3, clamping block 31, second limit slot 32, threaded positioning hole 33, double -shaft level tube 34, installation plate 4, second threaded column 41, prism device 5, right angle prism 51, reflecting prism 52. DETAILED DESCRIPTION

[0027] The technical solutions in the utility model will be further described below in combination with the drawings and embodiments.

[0028] The utility model provides a kind of SLAM scanner coordinate measurement semi-mobile support as shown in Figures 1-5 Including:

[0029] Support, for supporting SLAM scanner;

[0030] Quick -witted connecting plate, detachably installed at the top of support, top is equipped with first limit slot;

[0031] The auxiliary plate is fixedly connected with a clamping block matched with the first limiting slot, and a second limiting slot is formed in the top surface of the auxiliary plate.

[0032] The mounting plate is matched with the second limiting slot, and the SLAM scanner is detachably mounted on the mounting plate.

[0033] The bracket is provided with three foldable legs, and the legs are folded when the SLAM scanner is moved and scanned or carried, and are unfolded when the SLAM scanner is placed at the temporary control point, and the angle between the adjacent two legs is 120°, and the height of each leg can be adjusted to level the auxiliary plate.

[0034] The working principle is that the SLAM scanner is mounted on the bracket or handheld to move and scan the tunnel, the SLAM scanner coordinate measurement half-mobile bracket is placed on the ground at every 50-100 m to set a temporary control point, the coordinates of the prism device are measured by means of the high-precision total station which has completed the setting and orientation point inspection, the equivalent constant phase center point three-dimensional coordinates of the prism device are calculated by a simple formula and recorded in the memory of the total station. Then, the SLAM scanner coordinate measurement half-mobile bracket is folded, the handheld SLAM scanner continues to move forward, and the next temporary control point is scanned, and finally the data acquisition of the whole tunnel is completed. The key technologies for processing the point cloud data of the handheld SLAM three-dimensional laser scanner include preprocessing technologies such as point cloud denoising, point cloud simplification and station fitting, and post-processing technologies such as mileage correction, structure centerline extraction and cross section extraction. The point cloud of the SLAM scanner and the three-dimensional coordinates of the half-mobile bracket setting point are downloaded, denoising, simplification, splicing, registration, calculation, thinning and coordinate system conversion are performed by using the data processing software, and then the accurate three-dimensional model data are generated, and the required measurement results and engineering acceptance data are obtained by further processing by using the corresponding processing software.

[0035] In the embodiment, as shown in Figure 2 、 Figure 3 The cross section of the first slot and the second slot is arranged in a structure of being narrow at the top and wide at the bottom. The auxiliary plate and the mounting plate are respectively slidably installed on the fast-mounting plate and the auxiliary plate, so that the on-site rapid assembly is realized, and the measurement efficiency is improved. The first slot and the second slot are prismatic shapes, and can also be shapes matched by clamping, such as convex shapes.

[0036] In the embodiment, as shown inFigure 1 , Figure 2 As shown, a first threaded post is fixedly connected to the center of the top of the bracket, and a first threaded hole that threadedly mates with the first threaded post is opened at the center of the bottom surface of the quick-connect plate. The first threaded post is used for quick assembly with the quick-connect plate, improving the assembly efficiency of the bracket on site.

[0037] In this embodiment, as Figure 1 As shown, a retaining ring is fixedly connected to the first threaded post to limit the position of the quick-connect plate, thereby improving the assembly efficiency of the on-site support.

[0038] In this embodiment, as Figure 4 As shown, a second threaded post is fixedly connected to the top of the mounting plate, and the second threaded post is threadedly connected to the handle of the SLAM scanner. This facilitates rapid assembly of the SLAM scanner and improves assembly efficiency.

[0039] In this embodiment, as Figure 5 As shown, the measuring auxiliary plate has threaded positioning holes for fixing the prism device. The prism device includes two right-angle prisms and two reflecting prisms. One edge of the right-angle prism is fixed to the measuring auxiliary plate, and the other edge is set perpendicular to the measuring auxiliary plate. The right-angle prisms are symmetrically arranged on both sides of the measuring auxiliary plate. The reflecting prisms are rotatably mounted on one edge of the right-angle prism perpendicular to the measuring auxiliary plate. The center line between the two reflecting prisms coincides with the center line of the threaded positioning holes. The prism device is used at temporary measuring control points to measure the coordinates of the prism device with a high-precision total station that has already completed the setup and orientation point checks. The three-dimensional coordinates of the equivalent constant phase center point of the prism device are calculated using a simple calculation formula and recorded in the total station's memory.

[0040] In this embodiment, as Figure 3 As shown, a biaxial level tube is fixedly installed on the measuring auxiliary plate for observing its horizontal state. This helps to level the measuring auxiliary plate and improve measurement accuracy.

[0041] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model and are not intended to limit it. Although this utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of this utility model without departing from the spirit and scope of the technical solutions of this utility model, and all such modifications or substitutions should be covered within the scope of the claims of this utility model.

Claims

1. A SLAM scanner coordinate measuring semi-mobile stand, characterized in that, The utility model relates to a kind of SLAM surveying instrument auxiliary measurement device, including: Support for supporting SLAM scanner; Quick-mounting connecting plate, detachably installed at the top of support, top is provided with first limiting slot; Measuring auxiliary plate, bottom surface is fixedly connected with the clamping block of first limiting slot, top surface is provided with second limiting slot, measuring auxiliary plate is detachably installed with prism device, the prism device is used to measure the coordinates of prism device by the high-precision total station that has completed frame station and orientation point inspection in temporary measurement control point; Mounting plate, second limiting slot is clamped, SLAM scanner is detachably installed on mounting plate.

2. A semi-mobile support for a SLAM scanner coordinate measuring machine according to claim 1, characterised in that: The cross section of the first limiting slot and the second limiting slot is set to a structure of narrow at the top and wide at the bottom.

3. A semi-mobile support for a SLAM scanner coordinate measuring machine according to claim 2, characterised in that: The first limiting slot and the second limiting slot are prismatic.

4. A semi-mobile support for a SLAM scanner coordinate measuring machine according to claim 1, characterized in that: The top center of the support is fixedly connected with a first threaded column, and the bottom center of the quick-mounting connecting plate is provided with a first threaded hole threadedly matched with the first threaded column.

5. A semi-mobile support for a SLAM scanner coordinate measuring machine according to claim 4, characterised in that: The first threaded column is fixedly connected with a stop ring for limiting the position of the quick-mounting connecting plate.

6. A semi-mobile support for a SLAM scanner coordinate measuring machine according to claim 1, characterized in that: The top of the mounting plate is fixedly connected with a second threaded column, which is threadedly connected with the handle of the SLAM scanner.

7. A semi-mobile support for a SLAM scanner coordinate measuring machine according to claim 1, wherein: The measuring auxiliary plate is provided with a threaded positioning hole for fixing the prism device, the prism device includes two right-angle prisms and two reflecting prisms, one edge of the right-angle prism is fixed on the measuring auxiliary plate so that the other edge is arranged perpendicularly to the measuring auxiliary plate, the right-angle prisms are symmetrically arranged on two sides of the measuring auxiliary plate, the reflecting prisms are rotatably installed on the edge of the right-angle prism perpendicular to the measuring auxiliary plate, and the center line between the two reflecting prisms coincides with the center line of the threaded positioning hole.

8. A semi-mobile support for a SLAM scanner coordinate measuring machine according to claim 1, characterized in that: The measuring auxiliary plate is fixedly installed with a double-axis level tube for observing the level state of the measuring auxiliary plate.

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